hi, am a working in hardware in the loop simulation (HILS) for ardupilot mega.
the purpose of my research is to ensure that ardupilot control system works well,before I do the actual flight test.
the difference between what I do with pre-existing HILS is a model airplane that I use is a model of state space and not a model of an aircraft that already exists on xplane.
The following is an overview of its design scheme:
I have managed to describe the control block diagram for stabilization control mode from ardupilotmega.pde coding ,and compare the results between simulation control dan ardupilot hardware control. the following picture is the block diagram for stabilization control mode in matlab/simulink :
inside logitudinal block
inside lateral directional block
now, the problem is:
I have difficulty in describing the existing control algorithms ardupilotmega.pde coding to the form of control block diagram for auto control mode, because I do not understand the coding of the overall ardupilotmega.pde
so far, for the auto control mode, this is what I have gained:
-i a am still find a solution for make a gps simulation. now my idea is using yaw angle,speed,and inital position to estimate next position (some one help me)
-I am still trying to understand how the working process of waypoint tracking in ardupilotmega.pde coding , so that I can describe the block diagram in matlab / simulink. (some one help me)
new update (1 juni 2012)
this is my video off waypoint tracking simulation
i fine this... http://www.control.isy.liu.se/research/reports/2011/2996.pdf
some on... some body.. please help me
Autopilot does not control rudder. This was made to imitate the current configuration
used in the ArduPilot. ( page 46 ,"DEVELOPMENT OF PROCEDURES FOR FLIGHT TESTING UAVS USING THE ARDUPILOT SYSTEM",KHRISTOPHER KABBABE.)
Hi, the reason I said that is because when we mounted the ardupilot (legacy) on our aircraft we left the rudder out. So when I did the simulation, it was also left out. If you are still looking for help with integrating the control algorithms with matlab let me know.
that was useful to me thank you
thanks. let me know if you need some detail of my project.
I do want to ensure that the Autopilot control algorithms are in the file so called (attitude.pde) in "Arduplane2.7 "because am having the same problem of yours in my graduation project , that is i am not a C++ programmer and i find it quit hard to interpret the algorithms from the written code , by the way i made some of the longitudinal and lateral autopilots , and i want to improve the response of the Bixler , but first i must be sure that the algorithms are the same(mine and Arduplane) so we can do the comparison and development .....
thanks in advance :)
with best regards .
in my project, i am using "Arduplane2.22" coding. here is what i have done in matlab for attitude control simulation. what i am not sure about is the yaw control.because in coding the yaw is calculate with a interference from roll.servo_out. if you search "calc_nav_yaw" in attitude.pde you will see that calculation algorithms.
in simulation that i have done, i just let yaw input in trim position.
use translate.google.com if you don't understand some language in my file.
here is the file
Thaaaanx alot . but the link gives me this !!
You don't have permission to access "http://storage.ning.com/topology/rest/1.0/file/get/88637370?profile=original" on this server.
Can you upload it again? I have some experience with control algorithms, I will help you